| 摘要 |
A land vehicle navigation apparatus incorporates an inertial angular rate sensor on the vehicle and having a sensitive axis, and an inertial acceleration or tilt sensor having at least two sensitive axes; the latter two sensitive axes are typically located at the vehicle in a plane parallel to the Earth's surface; and a rotary drive is operatively connected to the sensors to rotate them about an axis extending generally at the vehicle in a plane parallel to the Earth's surface; and, circuitry is operatively connected with the sensors to determine three vehicle orientation angles, roll, pitch, and azimuth, with respect to an Earth-fixed coordinate set at a first location, and also to determine the three vehicle orientation angles as the land vehicle travels over the Earth surface; and changes to the azimuth angle during travel are determined by integration of the output of the rate sensor; also, the sensor, drive and circuitry are typically carried by the vehicle.
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